JPS6253121B2 - - Google Patents

Description

Detailed Description of the Invention The present invention includes an uncultivated land sensor that detects the brightness of reflected light from uncultivated land and a cultivated land sensor that detects the brightness of reflected light from cultivated land. A boundary sensor that detects the brightness of reflected light at the boundary is attached to the tilling device, and the reflection detected by the boundary sensor is based on the brightness of the reflected light detected by the uncultivated land and cultivated land sensors. Determine whether the brightness of the light is the brightness of a predetermined boundary,
The present invention relates to a tiller provided with a control mechanism that automatically changes the position of the tiller in the lateral direction of the tractor with respect to the tractor so that the boundary sensor detects the brightness of a predetermined boundary.

This type of method assumes that the brightness of reflected light from uncultivated land is in a certain magnitude relationship with the brightness of reflected light from cultivated land during plowing work in a certain direction. A control method is adopted in which the boundary position is detected by a boundary sensor based on the average value of brightness.

In other words, the brightness of cultivated land that is formed by digging up the soil of uncultivated land is generally lower than that of uncultivated land, and the brightness of reflected light from this relatively bright uncultivated land and the brightness of the relatively dark cultivated land Based on the detection result of the brightness of reflected light from The tilling device is moved laterally and the tilling device is controlled to move along a predetermined boundary, but there is a dark area on the uncultivated side that looks like after burning waste straw. If it exists locally, the sensor that detects the side of uncultivated land will detect the brightness of the reflected light from this dark area, causing the tilling equipment to be temporarily moved in the wrong direction.
Correct control will no longer be possible.

The present invention has been made in view of the above-mentioned circumstances, and it focuses on the fact that the brightness of dark areas such as those after burning waste straw is lower than that of cultivated land. The purpose of this invention is to prevent erroneous control caused by the presence of such dark areas.

The characteristic structure of the present invention for achieving the above object is as follows:
In the above-mentioned tiller, if the magnitude relationship between the brightness of the reflected light detected separately by the uncultivated land and tilled land sensors is reversed from a predetermined state, the control mechanism stops position control of the tilling device. The structure is provided with a mechanism, and this structure provides the following effects.

In other words, the uncultivated land sensor, which should normally detect brightness that is brighter than the brightness of the reflected light from the cultivated land, detects a brightness that is darker than the brightness of the reflected light detected by the cultivated land sensor, and the When the size relationship of the grains is reversed from the predetermined state, it is possible to detect the presence of a dark area similar to that left after burning waste straw, and at this time, the safety mechanism allows the control mechanism to Since the position control is stopped, it is possible to reliably avoid falling into an uncontrollable state due to the dark spots that exist locally on the uncultivated land side, as described above, and as a whole, The cultivation work that follows the boundary between uncultivated land and cultivated land has been successfully conveyed.

Next, embodiments of the present invention will be described in detail based on the drawings.

A tilling device 2 is attached to the rear of the tractor 1 so as to be able to swing up and down, and is configured to transmit power from the tractor 1 side to the tilling device 2. has been configured.

The tilling device 2 has a link mechanism 3 attached to the tractor 1.
It is attached via a parallel quadruple link mechanism 6 to a bracket 5 which is attached to the bracket 5 via a hydraulic cylinder 4 so as to be able to move up and down. A cylinder 8 is interposed, and the tilling device 2 is configured to be able to change its drive position laterally with respect to the tractor 1.

A support arm 10 is provided to protrude laterally outward from each end of the frame 9 of the tilling device 2, and the support arm 1
A first sensor S ₁ for detecting the brightness of reflected light from either the uncultivated land E ₁ or the cultivated land E ₂ is provided at a position laterally outward from the tilling equipment 2 of each of the tilling equipment 2. A third sensor _S3 is installed at each end portion, and a first sensor S3 is installed in parallel with the support arm 10 on one side depending on the running conditions during tilling work.
Of the third sensors S _{1 and} S ₃ , the first sensor S ₁ is used as a cultivated land sensor that detects the cultivated land side, and the third sensor S ₃ is used as a boundary sensor that detects the boundary area, and also as a support for the other side. The first sensor S ₁ provided on the arm 10 is used as an uncultivated land sensor for detecting the uncultivated land side, and these three sensors S ₁ , S ₁ , S ₃ are set as a set and the sensors S ₁ , S ₁ , S ₃ are Based on _the detection information _of
The control mechanism 11 is configured so that the tilling work can be carried out following the boundary L between the two.Next, the control mechanism 11 will be explained.

That is, each of the sensors S ₁ , S ₁ , S ₃ , and S ₃ includes a light projecting section and a light receiving section, and projects a light beam of a specific wavelength such as infrared rays, and adjusts the amount of light received relative to the reflected light from the ground. Therefore, considering that the amount of light received from cultivated land _E2 is significantly reduced compared to the amount of light received from uncultivated land _E1 , and characteristic values corresponding to each can be obtained,
The sensor identifies E ₁ and cultivated land E ₂ as well as the boundary between both E ₁ and E ₂ .
The detection information from S ₁ , S ₁ , and _{S 3} is input to the calculation circuit 12, and the average value ₍ (A+C)/2) and the amount of light received (B) detected by the boundary sensor _S3 , the comparison result is input to the command circuit 13, and based on the command signal from the command circuit 13, the hydraulic pressure is The solenoid valve V for the cylinder 8 is operated to change the horizontal position of the tilling device 2 so that the boundary sensor S ₃ receives the amount of light corresponding to the average value detected by the cultivated land sensor S ₁ and _the uncultivated land sensor S 1. , is configured to follow the aforementioned boundary L.

The cultivated land sensor S ₁ and the uncultivated land sensor S ₁
The detection information from each is input to the subtracter 14 to calculate the difference (A-C) between the amounts of light received by both sensors S ₁ and S ₁ , and the difference (A-C) between the two sensors S 1 and S ₁ is calculated based on the sign of the difference (A-C). It is configured to determine the magnitude relationship of characteristic values from S ₁ , and when the magnitude relationship is reversed with respect to a predetermined state set from the relationship between uncultivated land E ₁ and cultivated land E ₂ in the working situation. , stop circuit 1
5 and the display circuit 16, and the stop circuit 1
5 to input a stop signal to the command circuit 13 to stop the position control of the tilling device 2 by the control mechanism 11 with priority over the signal from the arithmetic circuit 12, and also to input a stop signal to the command circuit 13 based on the signal from the display circuit 16. Alternatively, the safety mechanism 17 is configured to activate a warning device such as a buzzer (not shown) to indicate that the control mechanism 11 is unable to control the vehicle.

Further, the safety mechanism 17 is provided with a detector 18 for detecting a rate of change in the information detected by the boundary sensor _S3 , and a detector 18 is provided to detect the rate of change and to determine whether the rate of change is within a set range. It is configured to input a signal to the stop circuit 15 and the display circuit 16 when the rate of change exceeds a set range, and when the characteristic value detected by the boundary sensor _S3 changes significantly, Even if a disturbance such as a lump occurs, the position control of the tilling device 2 by the control mechanism 11 is stopped and the stopped state is displayed.

In the above embodiment, the other of the first sensors S ₁ and S ₁ is used as the uncultivated land sensor, but the other side of the boundary sensors S ₃ and S ₃ may also be used as the uncultivated land sensor. , a separate dedicated sensor may be provided.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of the drawing]

The drawings show an embodiment of the power cultivator according to the present invention; FIG. 1 is a partially omitted side view of the riding power cultivator, FIG. 2 is a plan view of the main parts, and FIG. 3 is a block diagram showing the control system. be. DESCRIPTION OF SYMBOLS 1...Tractor, 2...Plowing device, 11...Control mechanism, 17...Safety mechanism, _S1 , _S3 ...Sensor.

Claims (1)

[Claims] 1 An uncultivated land sensor S ₁ that detects the brightness of reflected light from uncultivated land and an cultivated land sensor S ₁ that detects the brightness of reflected light from cultivated land are installed, and the reflected light at the boundary between uncultivated land and cultivated land is Boundary sensor that detects the brightness of
S ₃ is attached to the tillage device 2, and the brightness of the reflected light detected by the boundary sensor S ₃ is determined based on the brightness of the reflected light detected by the uncultivated land and cultivated land sensors S ₁ and S ₁ . determines whether or not the brightness is at a predetermined boundary area, and automatically moves the tilling device 2 in the lateral direction of the tractor 1 so that the boundary sensor _S3 detects the brightness at the predetermined boundary area. The cultivator is equipped with a control mechanism 11 that changes the position of the tiller, and the power cultivator is configured to reverse the brightness of the reflected light detected by the uncultivated land and tilled land sensors S ₁ and S ₁ from a predetermined state. The tiller is characterized in that it is provided with a safety mechanism 17 that stops the position control of the tiller 2 by the control mechanism 11.